CN101674112A - Interference elimination receiver and method - Google Patents

Interference elimination receiver and method Download PDF

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CN101674112A
CN101674112A CN200910176398A CN200910176398A CN101674112A CN 101674112 A CN101674112 A CN 101674112A CN 200910176398 A CN200910176398 A CN 200910176398A CN 200910176398 A CN200910176398 A CN 200910176398A CN 101674112 A CN101674112 A CN 101674112A
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郭琦
周圆
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ZTE Corp
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Abstract

The invention provides an interference elimination receiver and a method. The method comprises the following steps: the receiver separates received signal into multi-path signals; the receiver respectively carries out descrambling and dispreading treatment on separated signals of each path when the first detection is carried out on the received signal; in the following detection processes, the receiver carries out descrambling and dispreading treatment on signals after interference elimination treatment; each path signal at each treated Walsh frequency channel is combined in a maximum ratio; Walsh frequency channels for carrying out interference reconstruction are selected out, and the interference reconstruction is carried out on the signal at selected Walsh frequency channels; and finally signals interfering nonnormal direction of a user are eliminated from received signals of last iteration results. In the first detection, the received signals of the last iteration results are multi-channel signals separated from received signal, and in the following detection processes, the received signals of the last iteration results are signals after interference elimination treatment.

Description

A kind of interference cancellation receiver and method
Technical field
The present invention relates to communication technical field, be specifically related to a kind of high speed downlink packet and insert (HighSpeed Downlink Packet Access, HSDPA) Receiving machine and method of interference eliminated in the system.
Background technology
Along with the continuous development of mobile multi-media service, existing mobile communication system can provide higher message transmission rate.Yet for high speed data transfer, multidiameter fading channel will bring serious disturbance and noise.Especially (Intracell multiple-access interference MAI) has destroyed the orthogonality of each user's spreading code to multi-user interference, makes subscriber signal recover out fully by correlator or matched filter.Multiple advanced person's reception technique such as diversity reception, balancing technique, VAS application-to-terminal service equipment is to improve receptivity.But its performance or be subject to relatively poor channel circumstance, or be subject to the design complexities of terminal UE.Therefore in high speed data transmission system, be badly in need of a kind of Multiuser Detection of low complex degree or interference cancellation techniques to improve receptivity, the especially receptivity under the relatively poor situation of channel quality of wireless terminal device.
Summary of the invention
The technical problem to be solved in the present invention provides a kind of interference cancellation receiver and method, by removing the signal of the nonopiate direction of reconstruct interference signal, has improved the performance of interference cancellation.
In order to address the above problem, the invention provides a kind of interference elimination method, comprising:
Receiver is a multi-path signal with the Signal Separation that receives, when the signal that receives is carried out detecting the first time, receiver carries out descrambling and de-spreading respectively to each path signal after separating to be handled, after testing process in, receiver carries out descrambling and de-spreading to the signal after handling through interference cancellation to be handled, each path signal to each the Walsh frequency range after handling carries out the maximum ratio merging then, and select the Walsh frequency range of disturbing reconstruct, signal to the Walsh frequency range selected disturbs reconstruct then, at last the signal on the nonopiate direction of cancellation interference user from last iteration result's received signal;
When detecting for the first time, described last iteration result's received signal be to the multi-path signal after the Signal Separation that receives, after testing process in, described last iteration result's received signal is the signal after the interference cancellation processing.
Further, described receiver is the channel fading matrix that estimates each path signal behind the multi-path signal with the Signal Separation that receives;
Each path signal of each Walsh frequency range is carried out maximum ratio merge and be meant, each footpath symbols streams of each Walsh frequency range be multiply by the conjugate of corresponding each footpath channel fading matrix respectively, merge again.
Further, described receiver adopts fast Walsh transform that each path signal is carried out the despreading processing.
Further, after described receiver is selected to disturb the Walsh frequency range of reconstruct, the signal of each Walsh frequency range of interference user is carried out the maximum-likelihood criterion judgement.
Further, described from last iteration result's received signal the signal on the nonopiate direction of cancellation interference user be meant,
If last iteration result's received signal is r n, the interference signal of reconstruct is r Intern, the signal after the interference cancellation is
Figure G2009101763983D00021
r ~ n = r n - < r n , r intern > r intern , Calculate
Figure G2009101763983D00023
R during for next iteration N+1, promptly r n + 1 = r ~ n ; R when detecting for the first time 1Be the signal after separating, r InterI=0.
Further, will to have the division of signal of identical time delay be signal on the same path to described receiver.
The present invention also provides a kind of interference cancellation receiver, comprises that Multipath searching separation module, descrambling and de-spreading module, maximum ratio merge module, interference user check-out module, multipath interference reconstructed module and interference cancellation module;
Described Multipath searching separation module, the Signal Separation that is used for receiving is a multi-path signal;
Described descrambling and de-spreading module is used for from described interference cancellation module received signal, and each path signal that receives is carried out descrambling and despreading processing, obtains the code stream of Walsh frequency range;
Described maximum ratio merges module, be used for each path signal of each Walsh frequency range is carried out the maximum ratio merging, and the code stream of each the Walsh frequency range after will merging is sent to the interference user check-out module;
Described interference user check-out module is used to select the Walsh frequency range of disturbing reconstruct;
Described multipath disturbs reconstructed module, and the Walsh frequency range that is used for selecting is reconstructed into the multipath interference signal;
Described interference cancellation module is used for from upper level iteration result's the received signal cancellation signal on the nonopiate direction of reconstruct interference signal this time; When detecting for the first time, described last iteration result's received signal be to the multi-path signal after the Signal Separation that receives, after testing process in, described last iteration result's received signal is the signal after the interference cancellation processing.
Further, described receiver also comprises channel estimation module, is used for the multi-path signal that the Multipath searching separation module separates is carried out channel estimating, estimates the channel fading matrix of each path signal; And the channel fading matrix of each path signal is sent to maximum ratio merges module and multipath disturbs reconstructed module;
Described maximum ratio merges module carries out maximum ratio to each path signal of each Walsh frequency range and merges and be meant, each footpath symbols streams of each Walsh frequency range be multiply by the conjugate of corresponding each footpath channel fading matrix respectively, merges again.
Further, the signal of described descrambling and de-spreading module after to descrambling adopts fast Walsh transform that each path signal is carried out despreading to handle.
Further, described receiver also comprises the maximum-likelihood decoding module, is used for the signal of each Walsh frequency range of interference user is carried out the maximum-likelihood criterion judgement.
Further, described interference cancellation module signal on the nonopiate direction of cancellation interference user from last iteration result's received signal is meant,
If last iteration result's received signal is r n, the interference signal of reconstruct is r Intern, the signal after the interference cancellation is
Figure G2009101763983D00031
r ~ n = r n - < r n , r intern > r intern , Calculate
Figure G2009101763983D00033
R during for next iteration N+1, promptly r n + 1 = r ~ n ; R when detecting for the first time 1Be the signal after separating, r InterI=0.
Further, will to have the division of signal of identical time delay be signal on the same path to described Multipath searching separation module.
In sum, the invention provides a kind of interference cancellation receiver and method, last iteration result's received signal is projected on the orthogonal direction of reconstruct interference signal,, improve the performance of interference cancellation by removing the signal of the nonopiate direction of reconstruct interference signal.In addition, the present invention adopts fast Walsh transform, can fast and effeciently obtain the information of each Walsh frequency range user in the sub-district, can judge in the sub-district than interference user in conjunction with energy statistic value; Moreover, receiving symbol is carried out maximum-likelihood criterion judgement, do not handle and obtain CRC and adjudicate and do not need that it is carried out a series of bit-level, fast and effeciently improved the accuracy of disturbing reconstruction signal, also reduced requirement simultaneously to the terminal equipment disposal ability.
Description of drawings
Fig. 1 is the structural representation of HSDPA system interference cancellation receiver of the present invention;
Fig. 2 is the inventive method flow chart.
Embodiment
Present embodiment provides a kind of interference cancellation receiver, as shown in Figure 1, this receiver comprises reception Multipath searching separation module, channel estimation module, descrambling and de-spreading module, maximum ratio merges (MaximalRatio Combining, MRC) module, interference user check-out module, maximum-likelihood decoding (MaximumLikelihood, ML) module, multipath disturbs reconstructed module and interference cancellation module.
Receiving the Multipath searching separation module, be used for received signal from least one reception antenna, according to the time delay of the signal that receives, is the signal in corresponding different paths with this division of signal; The division of signal that will have identical time delay is the signal on the same path; Receiving the Multipath searching separation module also is used for the multi-path signal after separating is sent to the interference cancellation module.
Channel estimation module is used for each path signal that separates is estimated the channel fading matrix respectively; And the channel fading matrix of each path signal that will estimate is sent to, and maximum ratio merges module and multipath disturbs reconstructed module;
The interference cancellation module is used to store the signal r after the iteration, the signal after promptly handling through interference cancellation, and disturb reconstructed module to receive the interference signal r of reconstruct from multipath Inter, also be used for from the interference signal of upper level iteration result's received signal cancellation reconstruct this time, r ~ n = r n - < r n , r intern > r intern , Iteration when detecting for the first time is r as a result 1For from receiving the signal that the Multipath searching separation module receives, because of this does not disturb reconstruction signal, r n + 1 = r ~ n .
The descrambling and de-spreading module, be used for from the signal of cancellation module reception after cancellation is handled, and each path signal is carried out descrambling and despreading respectively handle, can adopt fast Walsh transform to carry out despreading handles, obtain the code stream of a plurality of Walsh frequency ranges, the code stream of each Walsh frequency range is multi-path signal, and its number of path is consistent with the isolated number of path of reception Multipath searching separation module.
The descrambling and de-spreading module is used for that also the signal after handling is sent to maximum ratio and merges module.
Maximum ratio merges module, be used for according to each the footpath channel fading matrix that estimates, each path receiving symbol to each Walsh frequency range carries out maximum ratio (MRC) merging, be specially, each path symbols streams of each Walsh frequency range be multiply by the conjugate of each corresponding footpath channel fading matrix respectively, merge again,, merge each Walsh frequency range of back and be a path signal to offset the channel fading influence.The signal that also is used for handling after merging is sent to the interference user check-out module.
The interference user check-out module is used to select the Walsh frequency range of interference user, and preserves the spreading code of each Walsh frequency range and the code stream after the merging; Be specially, it is interference user greater than the energy decision threshold that the interference user check-out module is selected Walsh frequency range data energy, if the Walsh frequency range number of selecting is m, if the interference user of selecting has exceeded the parallel processing capability of interference reconstruction unit, if the parallel processing capability of interference reconstruction unit is n for the Walsh frequency range number of once handling at most, m>n, then the interference user check-out module selects n Walsh frequency range of energy maximum as the Walsh frequency range of disturbing reconstruct from this m Walsh frequency range.
The maximum-likelihood decoding module is used for judging according to the code book maximum-likelihood criterion receiving symbol of each Walsh frequency range; Be specially, for each Walsh frequency range, the maximum-likelihood decoding module is at first determined the modulation system of this Walsh frequency range according to the symbols streams amplitude distribution of this Walsh frequency range, again according to the modulation code book of this modulation system correspondence, determining and setting despread symbols is immediate constellation value, thereby obtains the code stream of more accurate this Walsh frequency range.
Multipath disturbs reconstructed module, is used for the signal of each Walsh frequency range is carried out spread spectrum, scrambling, and data merge, and utilizes the channel fading matrix that estimates to carry out interference signal reconstruct, the multipath interference signal.
The WCDMA system introduces the HSDPA technology, can improve peak rate and whole power system capacity.The HSDPA system comprises two down physical channels and a uplink physical channel, and two down physical channels are HS-PDSCH (transmitting the high-speed physical layer data) and HS-SCCH (transmitting the high speed public control channel of UE identification code and relevant HS-PDSCH channel); Article one, uplink physical channel is HS-DPCCH (transmitting HARQ confirms and channel quality information CQI).
Each bar HS-PDSCH channel all can be from keep the channelization code set (Channelization Code Set) that transmission is used to HS-DSCH, and (Spreading Factor SF) is fixed as 16 spreading code to specify a spread spectrum coefficient.Because the HSDPA technology can be carried out many yards transmission, therefore in same HS-PDSCH subframe, a UE may a plurality of code channels of designated use.The OVSF mutually orthogonal of each code channel, code channel number is decided on the ability of UE.For the sake of simplicity, below describe and suppose that it is available that there is N high speed data channels HS-PDSCH each sub-district, each data channel assignment is the different Walsh sign indicating number of N to length.Wherein, for the HS-PDSCH data channel, N equals 16.
Present embodiment provides a kind of interference elimination method, as shown in Figure 2, may further comprise the steps:
Step 201: received signal from least one reception antenna, according to the different time delay of the signal that receives, received signal is divided into the signal in corresponding different paths, the division of signal that is about to have identical time delay is the signal on the same path;
From every reception antenna during received signal, because the path difference of its transmission of unlike signal, therefore, its time delay that arrives receiver is also different, in embodiments of the present invention, can will have the signal of identical time delay as sensu lato signal that transmits through same path.
Step 202: utilize pilot signal respectively each footpath signal to be carried out channel estimating;
Pilot signal is that priori is known to base station and terminal equipment, so terminal can utilize pilot signal to obtain the information of channel fading.Each footpath decline situation difference, each the footpath signal after reply separates carries out channel estimating respectively, estimates the channel fading matrix on each path;
Channel estimation methods can adopt the pilot signal correlation method, also can adopt other advanced algorithms to improve the accuracy of estimating, the present invention does not limit;
Step 203: to the signal of every paths, carry out descrambling respectively, the signal of the every paths behind the descrambling is carried out fast Walsh transform, and (Fast Walsh Transform is FWT) to obtain the corresponding receiving symbol stream of each each Walsh frequency range of footpath;
In down link, to each code channel of same sub-district, its scrambler is unique.Therefore each the footpath signal of same sub-district to receiving adopts identical scrambler to carry out descrambling.In the process of despreading, for downstream station, only this user's self spreading code is known, and other users' spreading code is unknowable in the sub-district.But N HS-PDSCH code channel is assigned to N the different Walsh sign indicating number that length is N in the sub-district, and then N code channel is mutually orthogonal, and N corresponding these data channels of Walsh frequency range.Walsh sign indicating number by traversal SF=N can recover out with the symbols streams of quadrature code channel, and the present invention adopts fast Walsh transform FWT can improve processing speed.Because one 2 kPoint Walsh transition matrix can be by 2 K-1Do reversion behind the Walsh transition matrix storehouse of point and produce, therefore one 2 with ordering kThe Walsh conversion can be by doing twice 2 K-1Walsh conversion and some addition and subtractions and ordering produce, can obtain the butterfly structure of a similar fast fourier transform.
In this step, the signal that carries out the descrambling and de-spreading processing first time when detecting is the multi-path signal after separating, and promptly not through the signal of interference cancellation processing, the signal that carries out the descrambling and de-spreading processing in the testing process afterwards is the signal after the process interference cancellation is handled.
Step 204: each the footpath channel fading matrix according to estimating, carry out maximum ratio (MRC) to each road receiving symbol of each Walsh frequency range and merge;
Suppose to detect L bar multipath signal, then each Walsh frequency range (being each code channel) all respectively has L road symbols streams, and the attenuation degree of every road symbol is different.Each footpath symbols streams of each Walsh frequency range be multiply by the respectively conjugate of footpath channel fading matrix of correspondence respectively, merge again, to offset the channel fading influence.
Step 205: add up each Walsh frequency range data energy, according to reconstruct resource and energy decision threshold, the Walsh frequency range of the interference user of interference signal reconstruct is carried out in selection, and obtains the receiving symbol after its spreading code and the merging;
Merge under the known situation of symbol in each Walsh frequency range, can count the energy of each Walsh frequency range data.If used certain Walsh frequency range in this sub-district, then this frequency range data energy is greater than the energy that does not use frequency range.Energy value will be regarded as interference user greater than the frequency range user of energy decision threshold, and its interference will and be offset by reconstruct.In one-time detection, have a plurality of band energies and all surpassed decision threshold, take all factors into consideration the factor (parallel processing capability that mainly refers to interference reconstruction unit) of reconstruct resource, select the strongest some frequency ranges of energy.
Disturbing reconstruct and cancellation is the process of continuous iteration, and with after other users' interference are all removed in the sub-district, the Walsh band energy will be lower than judging threshold in theory.The energy decision threshold is the important indicator that iteration finishes, but iterations still is subject to interference reconstruct and the processing time of cancellation unit and the feedback time of HARQ mechanism data reception condition.
Step 206: the receiving symbol to each Walsh frequency range of selecting carries out the maximum-likelihood criterion judgement, be specially, to select in each Walsh frequency range, at first determine the modulation system of this Walsh frequency range according to the symbols streams amplitude distribution of this Walsh frequency range, again according to the modulation code book of this modulation system correspondence, determining and setting despread symbols is immediate constellation value, thereby obtains the code stream of more accurate this Walsh frequency range.
The code element that receives merges through MRC, has offset the influence of part multipath fading, and multipath separates and the accuracy of channel estimating but its performance is subject to.In uplink interference is eliminated, usually interference user is carried out bit-level and handle, disturb reconstruct to improve the accuracy of reconstruct with the bit stream after the CRC check.In the down link, be subject to the unknown and handheld terminal power consumption and hardware complexity to other user profile, it is unpractical being reconstructed with the bit-level data of interference user.The present invention adopts maximum-likelihood criterion to be combined symbol and adjudicates according to each interference user modulation code book.For example, the HS-PDSCH channel can use QPSK, 16QAM or 64QAM modulation system, and the code library of each modulation system correspondence is known.At first determine modulation system according to the symbols streams amplitude distribution, again according to the corresponding modulating code book, determining and setting despread symbols is immediate constellation value, thereby obtains more accurate code stream.
Step 207: the code stream of each Walsh frequency range to the interference user after the judgement carries out spread spectrum respectively, scrambling, and data merge, and utilize the channel fading matrix reconstruct multipath interference signal that estimates;
This step and base station side signal reconstruction and consistent through the process of channel.The code stream of each interference user is earlier through spread spectrum, and spreading code is by disturbing check-out module to obtain.Chip-level data behind the spread spectrum are carried out scrambling, and each frequency range scrambler is unique in the same sub-district.The chip-level data of each interference user merge earlier, utilize the channel fading matrix that estimates to produce multipath signal again.
Step 208: received signal and this reconstruct interference signal to last iteration result are carried out energy normalized, the signal on the nonopiate direction of cancellation interference user from last iteration result's received signal then, obtaining received signal is the information that terminal receives the user on the interference user orthogonal direction.
For ease of explanation, the received signal of establishing last iteration result is r n, the interference signal of reconstruct is r Intern, the signal after the interference cancellation is
Figure G2009101763983D00081
r ~ n = r n - < r n , r intern > r intern , Calculate R during for next iteration N+1, promptly r n + 1 = r ~ n ; R when detecting for the first time 1Be the signal after separating, r InterI=0.
After this interference cancellation is finished dealing with, enter testing process next time, promptly return step 203.
The consequential signal r (t) of iteration will be stored in the metadata cache each time.Under the perfect condition, terminal use and interference user are on mutually orthogonal data channel, and the data on any and the nonopiate direction of interference user all should be by cancellation, promptly r ~ n = r n - < r n , r intern > r intern .
Obtain interference user information rapidly by fast Walsh transform in embodiments of the present invention, utilize the judgement of maximum likelihood ML criterion to improve reconstruct interference signal accuracy, and take the method for the continuous iteration of projection cancellation, make this method of reseptance under high-speed communication means, especially when channel quality is poor, data be can receive effectively, thereby the reliability and the receptivity of data receive method improved.
The present invention is mainly used in the receiver of forward link terminal interference cancellation, has solved the problem that unknown other user profile of terminal UE are difficult to disturb reconstruct, has realized the elimination to multipath fading and multi-user interference etc. in terminal use's reception information.The present invention is applicable to the channel that SF length is fixed in the same sub-district in the HSDPA system.

Claims (12)

1, a kind of interference elimination method comprises:
Receiver is a multi-path signal with the Signal Separation that receives, when the signal that receives is carried out detecting the first time, receiver carries out descrambling and de-spreading respectively to each path signal after separating to be handled, after testing process in, receiver carries out descrambling and de-spreading to the signal after handling through interference cancellation to be handled, each path signal to each the Walsh frequency range after handling carries out the maximum ratio merging then, and select the Walsh frequency range of disturbing reconstruct, signal to the Walsh frequency range selected disturbs reconstruct then, at last the signal on the nonopiate direction of cancellation interference user from last iteration result's received signal;
When detecting for the first time, described last iteration result's received signal be to the multi-path signal after the Signal Separation that receives, after testing process in, described last iteration result's received signal is the signal after the interference cancellation processing.
2, the method for claim 1 is characterized in that, described method also comprises:
Described receiver is the channel fading matrix that estimates each path signal behind the multi-path signal with the Signal Separation that receives;
Each path signal of each Walsh frequency range is carried out maximum ratio merge and be meant, each footpath symbols streams of each Walsh frequency range be multiply by the conjugate of corresponding each footpath channel fading matrix respectively, merge again.
3, the method for claim 1 is characterized in that:
Described receiver adopts fast Walsh transform that each path signal is carried out despreading and handles.
4, the method for claim 1 is characterized in that, described method also comprises:
After described receiver is selected to disturb the Walsh frequency range of reconstruct, the signal of each Walsh frequency range of interference user is carried out the maximum-likelihood criterion judgement.
5, the method for claim 1 is characterized in that:
Described from last iteration result's received signal the signal on the nonopiate direction of cancellation interference user be meant,
If last iteration result's received signal is r n, the interference signal of reconstruct is r Intern, the signal after the interference cancellation is
Figure A2009101763980002C1
Calculate R during for next iteration N+1, promptly R when detecting for the first time 1Be the signal after separating, r Nter1=0.
6, the method for claim 1 is characterized in that:
The division of signal that described receiver will have an identical time delay is the signal on the same path.
7, a kind of interference cancellation receiver comprises that Multipath searching separation module, descrambling and de-spreading module, maximum ratio merge module, interference user check-out module, multipath interference reconstructed module and interference cancellation module; It is characterized in that:
Described Multipath searching separation module, the Signal Separation that is used for receiving is a multi-path signal;
Described descrambling and de-spreading module is used for from described interference cancellation module received signal, and each path signal that receives is carried out descrambling and despreading processing, obtains the code stream of Walsh frequency range;
Described maximum ratio merges module, be used for each path signal of each Walsh frequency range is carried out the maximum ratio merging, and the code stream of each the Walsh frequency range after will merging is sent to the interference user check-out module;
Described interference user check-out module is used to select the Walsh frequency range of disturbing reconstruct;
Described multipath disturbs reconstructed module, and the Walsh frequency range that is used for selecting is reconstructed into the multipath interference signal;
Described interference cancellation module is used for from upper level iteration result's the received signal cancellation signal on the nonopiate direction of reconstruct interference signal this time; When detecting for the first time, described last iteration result's received signal be to the multi-path signal after the Signal Separation that receives, after testing process in, described last iteration result's received signal is the signal after the interference cancellation processing.
8, receiver as claimed in claim 7 is characterized in that:
Described receiver also comprises channel estimation module, is used for the multi-path signal that the Multipath searching separation module separates is carried out channel estimating, estimates the channel fading matrix of each path signal; And the channel fading matrix of each path signal is sent to maximum ratio merges module and multipath disturbs reconstructed module;
Described maximum ratio merges module carries out maximum ratio to each path signal of each Walsh frequency range and merges and be meant, each footpath symbols streams of each Walsh frequency range be multiply by the conjugate of corresponding each footpath channel fading matrix respectively, merges again.
9, receiver as claimed in claim 7 is characterized in that:
The signal of described descrambling and de-spreading module after to descrambling adopts fast Walsh transform that each path signal is carried out despreading and handles.
10, receiver as claimed in claim 7 is characterized in that:
Described receiver also comprises the maximum-likelihood decoding module, is used for the signal of each Walsh frequency range of interference user is carried out the maximum-likelihood criterion judgement.
11, receiver as claimed in claim 7 is characterized in that:
Described interference cancellation module signal on the nonopiate direction of cancellation interference user from last iteration result's received signal is meant,
If last iteration result's received signal is r n, the interference signal of reconstruct is r Intern, the signal after the interference cancellation is
Figure A2009101763980004C1
Figure A2009101763980004C2
Calculate
Figure A2009101763980004C3
R during for next iteration N+1, promptly
Figure A2009101763980004C4
R when detecting for the first time 1Be the signal after separating, r Inter1=0.
12, receiver as claimed in claim 7 is characterized in that:
The division of signal that described Multipath searching separation module will have an identical time delay is the signal on the same path.
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CN110692201B (en) * 2017-06-01 2022-04-26 法国大陆汽车公司 Method for eliminating multipath signal for FM radio signal receiver
CN110798254A (en) * 2019-09-27 2020-02-14 上海特金信息科技有限公司 WIFI elimination method and device in unmanned aerial vehicle signal detection and electronic equipment

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